SIL-RRT* trains a transformer-based sampler with self-imitation learning to guide RRT* tree expansion, reporting large sample-count reductions in 2D, 3D, and snake planning benchmarks.
Ex- trapolating beyond suboptimal demonstrations via inverse reinforcement learning from observations
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SIL-RRT*: Learning Sampling Distribution through Self Imitation Learning
SIL-RRT* trains a transformer-based sampler with self-imitation learning to guide RRT* tree expansion, reporting large sample-count reductions in 2D, 3D, and snake planning benchmarks.